MRPT  1.9.9
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mrpt::slam::CICP::TReturnInfo Struct Reference

Detailed Description

The ICP algorithm return information.

Definition at line 190 of file CICP.h.

#include <mrpt/slam/CICP.h>

Public Member Functions

 TReturnInfo ()=default
 

Public Attributes

unsigned short nIterations {0}
 The number of executed iterations until convergence. More...
 
float goodness {0}
 A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...
 
float quality {0}
 A measure of the 'quality' of the local minimum of the sqr. More...
 

Constructor & Destructor Documentation

◆ TReturnInfo()

mrpt::slam::CICP::TReturnInfo::TReturnInfo ( )
default

Member Data Documentation

◆ goodness

float mrpt::slam::CICP::TReturnInfo::goodness {0}

◆ nIterations

unsigned short mrpt::slam::CICP::TReturnInfo::nIterations {0}

◆ quality

float mrpt::slam::CICP::TReturnInfo::quality {0}

A measure of the 'quality' of the local minimum of the sqr.

error found by the method. Higher values are better. Low values will be found in ill-conditioned situations (e.g. a corridor)

Definition at line 201 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().




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